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<div class="title">cpPulleyJoint.h</div>  </div>
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<a href="cp_pulley_joint_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* Copyright (c) 2010 Robert Blackwood</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Based upon Box2d&#39;s b2PulleyJoint equations: </span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Copyright (c) 2007 Erin Catto http://www.gphysics.com</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a copy</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * of this software and associated documentation files (the &quot;Software&quot;), to deal</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * in the Software without restriction, including without limitation the rights</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * copies of the Software, and to permit persons to whom the Software is</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * furnished to do so, subject to the following conditions:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * The above copyright notice and this permission notice shall be included in</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * all copies or substantial portions of the Software.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> * SOFTWARE.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#ifndef CPPULLEYJOINT_H</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define CPPULLEYJOINT_H</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor"></span>    </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">const</span> cpConstraintClass *<a class="code" href="cp_pulley_joint_8h.html#ad7bea5ccd037499c912d0a54ce474ce7">cpPulleyJointGetClass</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">extern</span> cpFloat <a class="code" href="cp_pulley_joint_8c.html#af8b6e9536bf4835ecfee300aab0826bc">cp_min_pulley_len</a>;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keyword">extern</span> cpFloat <a class="code" href="cp_pulley_joint_8h.html#a1911e14d98b999328b7e1e8f5456862b">cp_min_correction</a>;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="comment">/*</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">     cpPulleyJoint</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">     </span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">     -First two parameters (a, b) are the bodies on the ends of the &quot;rope&quot;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">     -Third parameter (c) is the body the pulley is attached to</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">     -anchor1 and anchor2 are relative attach pts on the first two bodies</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">     -anchor3a and anchor3b are the points that represent the pulley rope&#39;s enter/exit</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">     -anchor1 --&gt; anchor3a</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">     -anchor2 --&gt; anchor3b</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">     -ratio simulates a block &amp; tackle, one side extends faster than the other</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">     */</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html">   48</a></span>&#160;    <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    {</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a11db831a210ba73f1e07d9efd04262c1">   50</a></span>&#160;        cpConstraint <a class="code" href="structcp_pulley_joint.html#a11db831a210ba73f1e07d9efd04262c1">constraint</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a6294a5c45d2b92e76411dfe7a25c002b">   51</a></span>&#160;        cpBody *<a class="code" href="structcp_pulley_joint.html#a6294a5c45d2b92e76411dfe7a25c002b">c</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#ac5a87ec76121965b874582f4d5980b89">   52</a></span>&#160;        cpVect <a class="code" href="structcp_pulley_joint.html#a7927f7e574abc76fe42b8d94514e29bd">anchr1</a>, <a class="code" href="structcp_pulley_joint.html#ac5a87ec76121965b874582f4d5980b89">anchr2</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#ae8ed1ffbc923bf7378cccdb2484400c4">   53</a></span>&#160;        cpVect <a class="code" href="structcp_pulley_joint.html#ade0afe505c5c2bec08ecb1e5b62b7503">anchr3a</a>, <a class="code" href="structcp_pulley_joint.html#ae8ed1ffbc923bf7378cccdb2484400c4">anchr3b</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a2c6ab06c8697063ca84c94158fb6f15c">   55</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a4ae77da137bf79f3776e14cfba14099f">dist1</a>, <a class="code" href="structcp_pulley_joint.html#a2c6ab06c8697063ca84c94158fb6f15c">dist2</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a1def7ea6664ecc0570ea1f440cd018c7">   56</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#afcccc684d10a3eb8eb0af030344aaa57">max1</a>, <a class="code" href="structcp_pulley_joint.html#a1def7ea6664ecc0570ea1f440cd018c7">max2</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a489c6f444d811f7b35d152613e8c64a4">   58</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a489c6f444d811f7b35d152613e8c64a4">ratio</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a118d8e1ef0c0eb84693cc44930af2874">   60</a></span>&#160;        cpVect <a class="code" href="structcp_pulley_joint.html#a3c98008abd49c5a50e0dcb235d914bee">r1</a>, <a class="code" href="structcp_pulley_joint.html#a118d8e1ef0c0eb84693cc44930af2874">r2</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a036be779d708e5221a3af965ddd95951">   62</a></span>&#160;        cpVect <a class="code" href="structcp_pulley_joint.html#a036be779d708e5221a3af965ddd95951">u1</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#af211251828cb5b3172a75e1e7fef4aa4">   63</a></span>&#160;        cpVect <a class="code" href="structcp_pulley_joint.html#af211251828cb5b3172a75e1e7fef4aa4">u2</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a77ae05a63a317908102b56532cab4c7e">   65</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a77ae05a63a317908102b56532cab4c7e">constant</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="comment">// Effective masses</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a7761d1dddfd311436c482e0ab7dde775">   68</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a7761d1dddfd311436c482e0ab7dde775">pulleyMass</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a4a9c00092f1a35448fb0257f48e61ae8">   69</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a4a9c00092f1a35448fb0257f48e61ae8">limitMass1</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#abe4f023d2ab40af1cc65d8e7ae479b9f">   70</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#abe4f023d2ab40af1cc65d8e7ae479b9f">limitMass2</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="comment">// Impulses for accumulation</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#ae077327593178f1fead6d7b9c2dad19b">   73</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#ae077327593178f1fead6d7b9c2dad19b">jnAcc</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#ad37b2f8f189832bc9a250b0295488041">   74</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#ad37b2f8f189832bc9a250b0295488041">jnAccLim1</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a79108f024044a8b76f9ba2dbffab08df">   75</a></span>&#160;        cpFloat <a class="code" href="structcp_pulley_joint.html#a79108f024044a8b76f9ba2dbffab08df">jnAccLim2</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="comment">// States are no fun... any way to get rid of this?</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a7b9d7e548792ad65b6131f0aa0d45513">   78</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structcp_pulley_joint.html#a7b9d7e548792ad65b6131f0aa0d45513">state</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#a52b60ad52bb58b74fcdf6c8ccff3ede4">   79</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structcp_pulley_joint.html#a52b60ad52bb58b74fcdf6c8ccff3ede4">limitState1</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="code" href="structcp_pulley_joint.html#af2438637238f5e6a72af4eeb1a93ffd9">   80</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="structcp_pulley_joint.html#af2438637238f5e6a72af4eeb1a93ffd9">limitState2</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    } <a class="code" href="cp_pulley_joint_8h.html#a6bbd4279706b7e531aed6dbbd09feaa2">cpPulleyJoint</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a> *<a class="code" href="cp_pulley_joint_8h.html#a54d340e3d364125602b999d3d41bd1fd">cpPulleyJointAlloc</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a> *<a class="code" href="cp_pulley_joint_8c.html#ad056d9cce82cee33f59de6476d246efd">cpPulleyJointInit</a>(<a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a> *joint,</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                                     cpBody* a, cpBody* b, cpBody* c,</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                                     cpVect anchor1, cpVect anchor2,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                     cpVect anchor3a, cpVect anchor3b,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                                     cpFloat ratio);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    cpConstraint *<a class="code" href="cp_pulley_joint_8c.html#a0571ab1315d62c295c2183d47ee42d6d">cpPulleyJointNew</a>(cpBody* a, cpBody* b, cpBody* c,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                   cpVect anchor1, cpVect anchor2,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                   cpVect anchor3a, cpVect anchor3b,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                                   cpFloat ratio);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="cp_pulley_joint_8h.html#aec6510ee634133fd09acd2ea1bac384c">CP_DefineConstraintProperty</a>(<a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a>, cpVect, anchr1, Anchr1);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="cp_pulley_joint_8h.html#aec6510ee634133fd09acd2ea1bac384c">CP_DefineConstraintProperty</a>(<a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a>, cpVect, anchr2, Anchr2);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="cp_pulley_joint_8h.html#aec6510ee634133fd09acd2ea1bac384c">CP_DefineConstraintProperty</a>(<a class="code" href="structcp_pulley_joint.html">cpPulleyJoint</a>, cpFloat, ratio, Ratio);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="preprocessor"></span>}</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="preprocessor">#endif //CPPULLEYJOINT_H</span></div>
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